/// <summary>
/// 同期キャラクタ検出を行う。キャラクタ検出を行ったら、その完了ポイントへの、インデックスを返す。
/// 同期キャラクタは、読み出しバッファに収納される。
/// キャラクタ検出できなければ、インデックスはバッファ長と同じ。
/// </summary>
int synchronation(int[] waveform, int offset)
{
byte data = 0;
int cnt = 16;
int index = offset;
for (; index < waveform.Length; index+=4)
{
// char sync
if (waveform[index] > 0)
data |= 0x80;
if (data == _syncCharactor)
{
System.Diagnostics.Debug.WriteLine(String.Format("Sync: 0x{0:X}.", data));
_recoveryData = 0;
_recoveryBitPos = 0;
_state = RecoveryState.DATA_EDGE;
return (index + 4);
}
// nosignal
cnt--;
if (cnt < 0)
{
_state = RecoveryState.SYNC_EDGE;
return index;
}
data >>= 1;
}
return index;
}
/// <summary>
/// データをリカバリします。これを読み出したあとは、HasReceivedが有効ならば、データバッファを読み出してください。次に呼び出したとき、このバッファは破壊されています。
/// </summary>
/// <param name="waveform"></param>
public void Recovery(int[] waveform)
{
int index = _indexOffset;
while (index < waveform.Length)
{
switch (_state)
{
case RecoveryState.SYNC_EDGE:
index = syncEdgeDetection(waveform, index);
break;
case RecoveryState.SYNC:
index = synchronation(waveform, index);
break;
case RecoveryState.DATA_EDGE:
index = dataEdgeDetection(waveform, index);
break;
case RecoveryState.DATA:
index = dataRecovery(waveform, index);
break;
default: _state = RecoveryState.SYNC_EDGE;
return;
}
}
_indexOffset = index - waveform.Length;
}
/// <summary>
/// エッジ検出。
/// </summary>
int syncEdgeDetection(int[] waveform, int offset)
{
int index = offset;
for (; index < waveform.Length; index++)
{
// edge detection
if (waveform[index] > 0)
{
_state = RecoveryState.SYNC;
return (index + 1 + 4);
}
}
return index;
}
/// <summary>
/// データ再生を行う。
/// </summary>
int dataRecovery(int[] waveform, int offset)
{
int index = offset;
for (; index < waveform.Length; index += 4)
{
// char sync
if (waveform[index] > 0)
_recoveryData |= 0x80;
if (_recoveryBitPos >= 7)
{
System.Diagnostics.Debug.WriteLine(String.Format("Receiving: 0x{0:X}.", _recoveryData));
_rcvBuf.Add(_recoveryData);
_recoveryData = 0;
_recoveryBitPos = 0;
_state = RecoveryState.DATA_EDGE;
return (index + 4);
}
_recoveryBitPos++;
_recoveryData >>= 1;
}
return index;
}
int dataEdgeDetection(int[] waveform, int offset)
{
int index = offset;
int cnt = 4;
for (; index < waveform.Length; index++)
{
// edge detection
if (waveform[index] > 0)
{
_recoveryData = 0;
_state = RecoveryState.DATA;
return (index + 1 + 4);
}
cnt--;
if (cnt < 0)
{
_queue.Enqueue(_rcvBuf.ToArray());
_rcvBuf.Clear();
_state = RecoveryState.SYNC_EDGE;
return index;
}
}
return index;
}
/// <summary>
/// 強制的に同期状態に遷移します
/// </summary>
public void Resynchronize()
{
_rcvBuf.Clear();
_state = RecoveryState.SYNC_EDGE;
}
public override string ReadLine()
{
// Send any commands that are queue before moving on to the internal stream.
string nextCommand = queuedCommands.ReadLine();
if (nextCommand != null)
{
return nextCommand;
}
switch (recoveryState)
{
// heat the extrude to remove it from the part
case RecoveryState.RemoveHeating:
// TODO: make sure we heat up all the extruders that we need to (all that are used)
queuedCommands.Add("G21; set units to millimeters");
queuedCommands.Add("M107; fan off");
queuedCommands.Add("T0; set the active extruder to 0");
queuedCommands.Add("G90; use absolute coordinates");
queuedCommands.Add("G92 E0; reset the expected extruder position");
queuedCommands.Add("M82; use absolute distance for extrusion");
queuedCommands.Add("M109 S{0}".FormatWith(ActiveSliceSettings.Instance.Helpers.ExtruderTemperature(0)));
recoveryState = RecoveryState.Raising;
return "";
// remove it from the part
case RecoveryState.Raising:
queuedCommands.Add("M114 ; get current position");
queuedCommands.Add("G91 ; move relative");
queuedCommands.Add("G1 Z10 F{0}".FormatWith(MovementControls.ZSpeed));
queuedCommands.Add("G90 ; move absolute");
recoveryState = RecoveryState.Homing;
return "";
// if top homing, home the extruder
case RecoveryState.Homing:
if (ActiveSliceSettings.Instance.GetValue<bool>(SettingsKey.z_homes_to_max))
{
queuedCommands.Add("G28");
}
else
{
// home x
queuedCommands.Add("G28 X0");
// home y
queuedCommands.Add("G28 Y0");
// move to the place we can home z from
Vector2 recoveryPositionXy = ActiveSliceSettings.Instance.GetValue<Vector2>(SettingsKey.recover_position_before_z_home);
queuedCommands.Add("G1 X{0:0.###}Y{1:0.###}F{2}".FormatWith(recoveryPositionXy.x, recoveryPositionXy.y, MovementControls.XSpeed));
// home z
queuedCommands.Add("G28 Z0");
}
recoveryState = RecoveryState.FindingRecoveryLayer;
return "";
// This is to recover printing if an out a filament occurs.
// Help the user move the extruder down to just touching the part
case RecoveryState.FindingRecoveryLayer:
if (false) // help the user get the head to the right position
{
// move to above the completed print
// move over a know good part of the model at the current top layer (extrude vertex from gcode)
// let the user move down until they like the height
// calculate that position and continue
}
else // we are resuming because of disconnect or reset, skip this
{
recoveryState = RecoveryState.SkippingGCode;
goto case RecoveryState.SkippingGCode;
}
case RecoveryState.SkippingGCode:
// run through the gcode that the device expected looking for things like temp
// and skip everything else until we get to the point we left off last time
int commandCount = 0;
boundsOfSkippedLayers = RectangleDouble.ZeroIntersection;
while (internalStream.FileStreaming.PercentComplete(internalStream.LineIndex) < percentDone)
{
string line = internalStream.ReadLine();
if(line == null)
{
break;
}
commandCount++;
// make sure we don't parse comments
if(line.Contains(";"))
{
line = line.Split(';')[0];
}
lastDestination = GetPosition(line, lastDestination);
if (commandCount > 100)
{
boundsOfSkippedLayers.ExpandToInclude(lastDestination.position.Xy);
if (boundsOfSkippedLayers.Bottom < 10)
{
int a = 0;
}
}
// check if the line is something we want to send to the printer (like a temp)
if (line.StartsWith("M109")
|| line.StartsWith("M104")
|| line.StartsWith("T")
|| line.StartsWith("M106")
|| line.StartsWith("M107"))
{
return line;
}
}
recoveryState = RecoveryState.PrimingAndMovingToStart;
// make sure we always- pick up the last movement
boundsOfSkippedLayers.ExpandToInclude(lastDestination.position.Xy);
return "";
case RecoveryState.PrimingAndMovingToStart:
{
if (ActiveSliceSettings.Instance.GetValue("z_homes_to_max") == "0") // we are homed to the bed
{
// move to the height we can recover printing from
Vector2 recoverPositionXy = ActiveSliceSettings.Instance.GetValue<Vector2>(SettingsKey.recover_position_before_z_home);
queuedCommands.Add(CreateMovementLine(new PrinterMove(new VectorMath.Vector3(recoverPositionXy.x, recoverPositionXy.y, lastDestination.position.z), 0, MovementControls.ZSpeed)));
}
double extruderWidth = ActiveSliceSettings.Instance.GetValue<double>(SettingsKey.nozzle_diameter);
// move to a position outside the printed bounds
queuedCommands.Add(CreateMovementLine(new PrinterMove(
new Vector3(boundsOfSkippedLayers.Left - extruderWidth*2, boundsOfSkippedLayers.Bottom + boundsOfSkippedLayers.Height / 2, lastDestination.position.z),
0, MovementControls.XSpeed)));
// let's prime the extruder
queuedCommands.Add("G1 E10 F{0}".FormatWith(MovementControls.EFeedRate(0))); // extrude 10
queuedCommands.Add("G1 E9"); // and retract a bit
// move to the actual print position
queuedCommands.Add(CreateMovementLine(new PrinterMove(lastDestination.position, 0, MovementControls.XSpeed)));
/// reset the printer to know where the filament should be
queuedCommands.Add("G92 E{0}".FormatWith(lastDestination.extrusion));
recoveryState = RecoveryState.PrintingSlow;
}
return "";
case RecoveryState.PrintingSlow:
{
string lineToSend = internalStream.ReadLine();
if (lineToSend == null)
{
return null;
}
if (!GCodeFile.IsLayerChange(lineToSend))
{
// have not seen the end of this layer so keep printing slow
if (LineIsMovement(lineToSend))
{
PrinterMove currentMove = GetPosition(lineToSend, lastDestination);
PrinterMove moveToSend = currentMove;
moveToSend.feedRate = recoverFeedRate;
lineToSend = CreateMovementLine(moveToSend, lastDestination);
lastDestination = currentMove;
return lineToSend;
}
return lineToSend;
}
}
// we only fall through to here after seeing the next "; Layer:"
recoveryState = RecoveryState.PrintingToEnd;
return "";
case RecoveryState.PrintingToEnd:
return internalStream.ReadLine();
}
return null;
}
